version: 66.07.10.p01
glider: 574
mission: 4
dive: 174
start: 11 3 112 5 44 1
data:
$ID,574
$MISSION,4
$DIVE,174
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,450
$T_MISSION,520
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5972.9858
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,3858
$C_PITCH,3013
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1913
$C_ROLL_CLIMB,1651
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,67
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,396
$VBD_MAX,3960
$C_VBD,2827
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.017719
$PRESSURE_SLOPE,0.00011710486
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.812
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043508084
$SEABIRD_T_H,0.00062732975
$SEABIRD_T_I,2.3669163e-05
$SEABIRD_T_J,2.5502761e-06
$SEABIRD_C_G,-9.9075203
$SEABIRD_C_H,1.1452845
$SEABIRD_C_I,-0.00093430834
$SEABIRD_C_J,0.0001541152
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,153
$GPS1,031112,053505,-4225.569,-721.592,36,0.8,36,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-72.3
$GPS2,031112,054307,-4225.589,-721.583,18,1.1,20,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4200.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.202,0.119
$KALMAN_X,-302775.4,81.3,498.8,421624.9,-7753.0
$KALMAN_Y,255292.6,-621.7,-1471.9,-204976.0,9579.4
$MHEAD_RNG_PITCHd_Wd,81.3,74306,-13.9,-7.407
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.52,-145.9,0.0,0.0,0,99,0.00,0.00,-72.07,0.000,2,0.000,0.000,66,1923,2750,0,0,0,0,0,0
$GC,102,-0.52,-145.9,3.2,-1.6,12,139,12.07,0.00,-17.48,0.000,6,0.255,0.000,2834,1922,3424,0,0,0,0,0,0
$GC,213,-0.49,-145.9,14.6,-9.3,30,220,0.08,1.12,0.00,0.000,4,0.196,0.061,2853,1247,3425,0,0,0,0,0,0
$GC,286,-0.51,-145.9,21.1,-8.9,42,293,0.00,1.00,0.00,0.000,6,0.000,0.039,2851,1883,3425,0,0,0,0,0,0
$GC,366,-0.64,-145.9,27.7,-7.9,55,374,0.12,1.38,0.00,0.000,4,0.097,0.048,2795,2748,3425,0,0,0,0,0,0
$GC,420,-0.64,-145.9,32.9,-9.7,64,427,0.00,1.33,0.00,0.000,6,0.000,0.047,2796,1921,3425,0,0,0,0,0,0
$GC,658,-0.56,-145.9,59.5,-11.6,105,664,0.12,2.30,0.00,0.000,4,0.168,0.063,2829,500,3425,0,0,0,0,0,0
$GC,719,-0.56,-145.9,66.4,-9.8,116,725,0.00,2.20,0.00,0.000,6,0.000,0.034,2822,1913,3425,0,0,0,0,0,0
$GC,1063,-0.53,-145.9,97.9,-8.5,177,1070,0.08,0.57,0.00,0.000,4,0.196,0.045,2838,2311,3425,0,0,0,0,0,0
$GC,1120,-0.55,-145.9,102.2,-7.3,184,1124,0.00,0.65,0.00,0.000,6,0.000,0.049,2838,1894,3425,0,0,0,0,0,0
$GC,1446,-0.55,-145.9,127.8,-8.5,205,1450,0.00,2.20,0.00,0.000,4,0.000,0.062,2838,509,3425,0,0,0,0,0,0
$GC,1500,-0.55,-145.9,133.1,-9.2,208,1509,0.00,2.17,0.00,0.000,6,0.000,0.032,2831,1921,3425,0,0,0,0,0,0
$GC,1822,-0.64,-145.9,158.8,-7.7,229,1827,0.08,1.73,0.00,0.000,4,0.133,0.047,2791,3033,3425,0,0,0,0,0,0
$GC,1883,-0.60,-145.9,164.9,-9.8,232,1891,0.08,1.75,0.00,0.000,6,0.135,0.041,2816,1915,3425,0,0,0,0,0,0
$GC,2205,-0.67,-145.9,191.5,-8.1,253,2209,0.05,2.28,0.00,0.000,4,0.172,0.059,2793,502,3425,0,0,0,0,0,0
$GC,2293,-0.58,-145.9,200.9,-10.1,258,2301,0.10,2.17,0.00,0.000,6,0.139,0.033,2817,1911,3426,0,0,0,0,0,0
$GC,2615,-0.56,-145.9,227.8,-8.6,279,2619,0.05,0.40,0.00,0.000,4,0.232,0.049,2828,2203,3425,0,0,0,0,0,0
$GC,2652,-0.56,-145.9,231.3,-8.2,281,2656,0.00,0.45,0.00,0.000,6,0.000,0.050,2828,1903,3425,0,0,0,0,0,0
$GC,2988,-0.65,-145.9,261.0,-9.4,301,2993,0.08,2.22,0.00,0.000,4,0.132,0.057,2794,516,3425,0,0,0,0,0,0
$GC,3050,-0.57,-145.9,268.3,-12.3,304,3055,0.15,2.12,0.00,0.000,6,0.155,0.031,2825,1920,3426,0,0,0,0,0,0
$GC,3376,-0.57,-145.9,300.4,-9.6,320,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1919,3425,0,0,0,0,0,0
$GC,3687,-0.57,-145.9,327.9,-8.6,335,3690,0.00,0.80,0.00,0.000,4,0.000,0.052,2825,1406,3425,0,0,0,0,0,0
$GC,3736,-0.57,-145.9,332.5,-8.4,337,3740,0.00,0.77,0.00,0.000,6,0.000,0.036,2823,1915,3425,0,0,0,0,0,0
$GC,4066,-0.66,-145.9,356.2,-7.1,353,4071,0.08,2.25,0.00,0.000,4,0.132,0.057,2787,517,3425,0,0,0,0,0,0
$GC,4086,-0.66,-145.9,358.4,-8.5,354,4091,0.03,2.15,0.00,0.000,6,0.198,0.033,2790,1911,3424,0,0,0,0,0,0
$GC,4414,-0.66,-145.9,385.4,-8.4,370,4418,0.00,2.25,0.00,0.000,4,0.000,0.057,2790,511,3424,0,0,0,0,0,0
$GC,4478,-0.59,-145.9,391.6,-10.3,373,4483,0.15,2.15,0.00,0.000,6,0.158,0.034,2823,1920,3424,0,0,0,0,0,0
$GC,4792,-0.68,-145.9,417.4,-8.2,385,4794,0.10,0.00,0.00,0.000,6,0.112,0.000,2784,1921,3424,0,0,0,0,0,0
$GC,5098,-0.68,-145.9,447.4,-9.9,395,5101,0.00,2.17,0.00,0.000,4,0.000,0.047,2775,3319,3423,0,0,0,0,0,0
$GC,5186,-0.64,-145.9,457.0,-11.0,397,5192,0.08,2.17,0.00,0.000,6,0.142,0.037,2801,1917,3423,0,0,0,0,0,0
$GC,5499,-0.59,-145.9,488.3,-9.8,408,5503,0.08,1.92,0.00,0.000,4,0.200,0.054,2818,690,3422,0,0,0,0,0,0
$GC,5553,-0.59,-145.9,493.6,-9.3,409,5558,0.00,1.88,0.00,0.000,6,0.000,0.033,2811,1910,3422,0,0,0,0,0,0
$GC,5872,-0.57,-145.9,521.5,-8.9,420,5877,0.08,0.43,0.00,0.000,4,0.200,0.047,2828,2221,3422,0,0,0,0,0,0
$GC,5915,-0.59,-145.9,525.3,-8.4,421,5919,0.00,0.47,0.00,0.000,6,0.000,0.049,2828,1903,3422,0,0,0,0,0,0
$GC,6245,-0.72,-145.9,551.7,-8.3,432,6250,0.15,2.25,0.00,0.000,4,0.093,0.048,2764,3319,3421,0,0,0,0,0,0
$GC,6266,-0.76,-145.9,553.9,-9.9,432,6271,0.00,2.17,0.00,0.000,6,0.000,0.037,2764,1920,3421,0,0,0,0,0,0
$GC,6579,-0.64,-145.9,591.4,-12.0,443,6583,0.15,2.20,0.00,0.000,4,0.177,0.046,2792,3322,3420,0,0,0,0,0,0
$GC,6672,-0.64,-145.9,600.2,-9.1,445,6678,0.00,2.20,0.00,0.000,6,0.000,0.037,2793,1906,3420,0,0,0,0,0,0
$GC,6985,-0.59,-145.9,629.0,-9.4,456,6990,0.10,1.23,0.00,0.000,4,0.181,0.052,2819,1132,3420,0,0,0,0,0,0
$GC,7052,-0.59,-145.9,634.6,-8.1,458,7056,0.00,1.20,0.00,0.000,6,0.000,0.034,2815,1919,3420,0,0,0,0,0,0
$GC,7392,-0.59,-145.9,660.5,-7.3,469,7396,0.00,0.52,0.00,0.000,4,0.000,0.052,2815,1571,3419,0,0,0,0,0,0
$GC,7460,-0.59,-145.9,665.3,-7.1,471,7464,0.00,0.50,0.00,0.000,6,0.000,0.041,2812,1922,3418,0,0,0,0,0,0
$GC,7800,-0.59,-145.9,688.6,-6.9,482,7804,0.00,1.00,0.00,0.000,4,0.000,0.052,2812,1294,3418,0,0,0,0,0,0
$GC,7861,-0.59,-145.9,693.0,-7.0,483,7867,0.00,0.93,0.00,0.000,6,0.000,0.035,2808,1904,3418,0,0,0,0,0,0
$GC,8174,-0.59,-145.9,715.6,-7.4,494,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1904,3417,0,0,0,0,0,0
$GC,8480,-0.59,-145.9,740.4,-8.1,504,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1904,3417,0,0,0,0,0,0
$GC,8786,-0.59,-145.9,765.9,-8.4,514,8787,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1904,3416,0,0,0,0,0,0
$GC,9092,-0.59,-145.9,790.6,-8.1,524,9096,0.00,1.20,0.00,0.000,4,0.000,0.052,2809,1154,3416,0,0,0,0,0,0
$GC,9163,-0.59,-145.9,797.0,-8.9,526,9169,0.08,1.17,0.00,0.000,6,0.191,0.034,2823,1913,3416,0,0,0,0,0,0
$GC,9499,-0.64,-145.9,822.0,-7.5,537,9501,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1913,3416,0,0,0,0,0,0
$GC,9806,-0.76,-145.9,844.7,-7.5,547,9810,0.17,1.08,0.00,0.000,4,0.086,0.044,2756,2611,3415,0,0,0,0,0,0
$GC,9865,-0.71,-145.9,850.6,-10.2,548,9872,0.08,1.10,0.00,0.000,6,0.150,0.039,2779,1904,3415,0,0,0,0,0,0
$GC,10179,-0.75,-145.9,879.3,-9.2,559,10183,0.00,2.22,0.00,0.000,4,0.000,0.047,2770,3319,3415,0,0,0,0,0,0
$GC,10256,-0.72,-145.9,887.2,-9.8,561,10260,0.00,2.17,0.00,0.000,6,0.000,0.037,2771,1922,3414,0,0,0,0,0,0
$GC,10586,-0.63,-145.9,925.1,-11.6,572,10590,0.12,1.60,0.00,0.000,4,0.179,0.051,2803,911,3414,0,0,0,0,0,0
$GC,10656,-0.63,-145.9,932.4,-9.4,574,10661,0.00,1.58,0.00,0.000,6,0.000,0.034,2797,1927,3414,0,0,0,0,0,0
$GC,10993,-0.61,-145.9,963.9,-9.6,585,10994,0.08,0.00,0.00,0.000,6,0.201,0.000,2815,1927,3414,0,0,0,0,0,0
$GC,11299,-0.63,-145.9,988.0,-7.6,595,11302,0.00,0.70,0.00,0.000,4,0.000,0.051,2815,1477,3414,0,0,0,0,0,0
$GC,11367,-0.65,-145.9,993.1,-7.1,597,11371,0.00,0.68,0.00,0.000,6,0.000,0.040,2814,1927,3414,0,0,0,0,0,0
$STATE,11492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11492,begin apogee
$GC,11497,-0.19,0.0,1002.1,7.2,601,11624,0.45,0.00,124.03,1.567,6,0.133,0.000,2950,1640,2826,0,0,0,0,0,0
$STATE,11625,end apogee,CONTROL_FINISHED_OK
$STATE,11625,begin climb
$GC,11626,0.52,145.9,1007.5,0.0,605,11767,0.73,2.17,131.70,1.536,4,0.075,0.063,3186,474,2232,0,0,0,0,0,0
$GC,11879,0.32,145.9,1000.4,8.8,613,11884,0.22,1.92,0.00,0.000,6,0.176,0.036,3127,1639,2227,0,0,0,0,0,0
$GC,12203,0.26,202.1,981.3,5.5,624,12258,0.10,0.52,49.42,1.489,4,0.207,0.045,3104,1980,2002,0,0,0,0,0,0
$GC,12308,0.26,262.1,975.8,5.4,627,12368,0.00,0.55,54.50,1.485,6,0.000,0.054,3104,1654,1758,0,0,0,0,0,0
$GC,12698,0.45,307.8,952.7,5.8,640,12745,0.15,2.42,40.78,1.470,4,0.097,0.066,3160,241,1573,0,0,0,0,0,0
$GC,12828,0.45,307.8,943.4,7.4,644,12833,0.00,2.28,0.00,0.000,6,0.000,0.037,3160,1640,1567,0,0,0,0,0,0
$GC,13164,0.45,307.8,919.0,7.4,655,13165,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1645,1564,0,0,0,0,0,0
$GC,13470,0.45,307.8,895.8,7.8,665,13474,0.00,0.50,0.00,0.000,4,0.000,0.064,3160,1333,1564,0,0,0,0,0,0
$GC,13525,0.45,307.8,891.5,8.4,666,13529,0.00,0.50,0.00,0.000,6,0.000,0.044,3160,1661,1563,0,0,0,0,0,0
$GC,13843,0.45,307.8,866.5,7.8,677,13846,0.00,0.45,0.00,0.000,4,0.000,0.063,3160,1376,1563,0,0,0,0,0,0
$GC,13897,0.45,307.8,861.7,8.6,678,13901,0.00,0.43,0.00,0.000,6,0.000,0.045,3160,1662,1563,0,0,0,0,0,0
$GC,14215,0.45,307.8,834.2,8.8,689,14219,0.00,0.82,0.00,0.000,4,0.000,0.063,3159,1150,1563,0,0,0,0,0,0
$GC,14271,0.45,307.8,829.3,8.3,690,14274,0.00,0.75,0.00,0.000,6,0.000,0.042,3160,1645,1563,0,0,0,0,0,0
$GC,14588,0.45,307.8,801.5,8.7,701,14589,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1645,1563,0,0,0,0,0,0
$GC,14894,0.45,307.8,774.6,8.6,711,14898,0.00,0.68,0.00,0.000,4,0.000,0.063,3160,1221,1563,0,0,0,0,0,0
$GC,14948,0.45,307.8,769.8,8.5,712,14953,0.00,0.68,0.00,0.000,6,0.000,0.043,3160,1661,1562,0,0,0,0,0,0
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$STATE,23652,end climb,SURFACE_DEPTH_REACHED
$STATE,23652,begin surface coast
$FINISH,1.4,1.016421
$STATE,23694,end surface coast,CONTROL_FINISHED_OK
$STATE,23695,begin surface
$SM_CCo,23771,0.00,0.000,0,0,1098,423.87
$SM_GC,2.05,8.57,0.00,0.00,0.054,0.000,0.000,87,1947,1098,-9.09,0.96,423.87
$IRIDIUM_FIX,-4212.81,-721.98,021112,232311
$TT8_MAMPS,0.026964
$HUMID,46.25
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,22.6,42.130
$10V_AH,10.1,32.313
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.425,137.200,503.125,0.000,0.000,28.108,36.954,292.612,0.250,0.000,22.067,3098.360,16588.570,628.669,3752.403,175.164,33.364,2101.237,0.000,3331.346,0.000,2.833,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,794.182,1326.767,805.383,98.129,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354504
$DATA_FILE_SIZE,73518,1225
$CAP_FILE_SIZE,214095,0
$CFSIZE,2097086464,2069856256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,031112,122125,-4223.076,-721.322,39,1.2,40,-21.8